/*
 * Stepper.hpp
 *
 *  Created on: Mar 4, 2012
 *      Author: trwulff
 */

/*
 * Description:
 */
#ifndef STEPPER_HPP
#define STEPPER_HPP
#include "WPILib.h"

#define DEFAULTSTEPSPEED 0.15

class Stepper
{
public:
	/*
	 * Default constructor
	 */
	Stepper(double jogtimeon,double jogtimeoff,float speed0=DEFAULTSTEPSPEED);

	/*
	 * Default destructor
	 */
	~Stepper();
	void SetStepSpeed(float speed);
	float GetCurrentSpeed(float speed);
	void Restart(float speed);

protected:
private:
	Timer StepTimer;
	double StepTimeOn;
	double StepTimeOff;
	bool IsEnd;
	float StepSpeed;
	float StepSpeed0;

};
#endif

